Add sensor model support for Calibrated VIRTIS_M_IR and VIRTIS_M_VIS images to ISIS (#647) (56431d4d) · Commits · aflab / astrogeology / ISIS3

isis/src/base/objs/SpiceRotation/SpiceRotation.cpp

+13 −6

Original line number	Diff line number	Diff line
		@@ -714,7 +714,6 @@ namespace Isis {
		LineCache(tableName);

		//std::cout << "Full cache size is " << p_cache.size() << endl;

		p_minimizeCache = Yes;
		LoadTimeCache();

		@@ -1931,6 +1930,12 @@ namespace Isis {
		return;
		}

		void SpiceRotation::SetCacheTime(std::vector<double> cacheTime) {
		// Do not reset the cache times if they are already loaded.
		if (p_cacheTime.size() <= 0) {
		p_cacheTime = cacheTime;
		}
		}

		/**
		* Evaluate the derivative of the fit polynomial defined by the
		@@ -2398,7 +2403,7 @@ namespace Isis {

		// Don't read type 5 ck here
		if (ic[2] == 5) break;
		//

		// Check times for type 3 ck segment if spacecraft matches
		if (ic[0] == spCode && ic[2] == 3) {
		sct2e_c((int) spCode / 1000, dc[0], &segStartEt);
		@@ -2478,13 +2483,15 @@ namespace Isis {

		// Load times according to cache size (body rotations) -- handle first round of type 5 ck case
		// and multiple ck case --Load a time for every line scan line and downsize later
		if (!timeLoaded) {
		if (! (timeLoaded \|\| (p_cacheTime.size() > 1))) {
		double cacheSlope = 0.0;
		if (p_fullCacheSize > 1)
		cacheSlope = (p_fullCacheEndTime - p_fullCacheStartTime) / (double)(p_fullCacheSize - 1);
		for (int i = 0; i < p_fullCacheSize; i++)
		p_cacheTime.push_back(p_fullCacheStartTime + (double) i * cacheSlope);
		if (p_source == Nadir) p_minimizeCache = No;
		if (p_source == Nadir) {
		p_minimizeCache = No;
		}
		}
		NaifStatus::CheckErrors();
		}

isis/src/base/objs/SpiceRotation/SpiceRotation.h

+1 −0

Original line number	Diff line number	Diff line
		@@ -392,6 +392,7 @@ namespace Isis {
		double GetTimeScale();

		void SetOverrideBaseTime(double baseTime, double timeScale);
		void SetCacheTime(std::vector<double> cacheTime);

		// Derivative methods
		double DPolynomial(const int coeffIndex);

isis/src/rosetta/apps/rosvirtis2isis/main.cpp

+98 −11

Original line number	Diff line number	Diff line
		@@ -19,6 +19,7 @@
		#include "UserInterface.h"
		#include "PolynomialUnivariate.h"
		#include "VirtisHK.h"
		#include "iTime.h"

		using namespace std;
		using namespace Isis;
		@@ -29,6 +30,7 @@ int word(const char byte1, const char byte2);
		int swapb(const unsigned short int word);
		double translateScet(int word1, int word2, int word3);
		bool isValid(int word);
		QString convertSCET(int word1, int word2, int word3);

		void IsisMain ()
		{
		@@ -59,6 +61,7 @@ void IsisMain ()

		p.SetPdsFile(pdsLabel, inFile.expanded());
		p.SetOrganization(Isis::ProcessImport::BIP);
		p.SaveDataSuffix();

		// NULL pixels are set to 65535 in the input QUB
		p.SetNull(65535, 65535);
		@@ -90,6 +93,8 @@ void IsisMain ()
		throw IException(IException::Unknown, msg, _FILEINFO_);
		}

		// Processing level 2 = uncalibrated
		// Processing level 3 = calibrated
		int procLevel = (int) pdsLabel.findKeyword("PROCESSING_LEVEL_ID");

		// Override default DataTrailerBytes constructed from PDS header
		@@ -102,6 +107,9 @@ void IsisMain ()
		p.SetDataSuffixBytes(4);
		}

		QString startScet;
		QString stopScet;

		p.StartProcess();

		// Get the directory where the Rosetta translation tables are.
		@@ -328,25 +336,44 @@ void IsisMain ()

		outcube->write(table);
		}
		// Level 3 = Calibrated VIRTIS-M data
		else if (procLevel == 3) {
		std::vector<char *> hkData = p.DataTrailer();

		// Create a table to hold SCET information
		TableRecord rec;
		TableField scETField("dataSCET", TableField::Double);
		TableField scETField("dataSCET", TableField::Text, 50);
		rec += scETField;
		Table table("VIRTISHouseKeeping", rec);
		for (unsigned int i=0; i < hkData.size() ; i++) {
		const char *hk = hkData.at(i);
		const unsigned short uihk = reinterpret_cast<const unsigned short > (hk);
		int word1 = swapb(uihk[0]);
		int word2 = swapb(uihk[1]);
		int word3 = swapb(uihk[2]);
		rec[0] = translateScet(word1, word2, word3);

		std::vector<std::vector<char *> > dataSuffix = p.DataSuffix();
		for (unsigned int i=0; i < dataSuffix.size(); i++) {
		std::vector<char*> dataSuffixRecord = dataSuffix[i];

		// The SCET for each line is stored as three 2-byte words. The three words are stored in the
		// second byte of each of the first 3 lines of the suffix record.
		std::vector<const unsigned short*> scetBytes;
		std::vector<int> scetWords;
		for (int j=0; j < 3; j++) {
		scetBytes.push_back(reinterpret_cast<const unsigned short *>(dataSuffixRecord.at(j)));
		scetWords.push_back(swapb(scetBytes[j][1]));
		}

		// Calculate the SCET and add it to the table
		QString translatedScet = convertSCET(scetWords[0], scetWords[1], scetWords[2]);
		rec[0] = translatedScet;
		table += rec;

		// Save off first and last scet values.
		if (i==0) {
		startScet = translatedScet;
		}
		else if (i == dataSuffix.size() - 1) {
		stopScet = translatedScet;
		}
		}
		outcube->write(table);
		}


		// Create a PVL to store the translated labels in
		Pvl outLabel;

		@@ -360,6 +387,51 @@ void IsisMain ()
		PvlToPvlTranslationManager instrumentXlater (pdsLabel, transFile.expanded());
		instrumentXlater.Auto(outLabel);

		if (procLevel == 3) {
		// Fix the StartTime and SpacecraftStartClockCount in the ISIS3 label
		PvlGroup &inst = outLabel.findGroup("Instrument", Pvl::Traverse);

		// Pass the Start/Stop SCET values to naif to get the utc time.
		QString sclk = "$ISIS3DATA/rosetta/kernels/sclk/ROS_??????_STEP.TSC";
		QString lsk = "$ISIS3DATA/base/kernels/lsk/naif????.tls";
		FileName sclkName(sclk);
		FileName lskName(lsk);

		sclkName = sclkName.highestVersion();
		lskName = lskName.highestVersion();

		furnsh_c(lskName.expanded().toLatin1().data());
		furnsh_c(sclkName.expanded().toLatin1().data());

		SpiceDouble etStart;
		SpiceDouble etEnd;
		scs2e_c( (SpiceInt) -226, startScet.toLatin1().data(), &etStart);
		scs2e_c( (SpiceInt) -226, stopScet.toLatin1().data(), &etEnd);

		PvlKeyword &frameParam = inst["FrameParameter"];
		double exposureTime = toDouble(frameParam[0]);

		QString startTime = iTime(etStart-exposureTime).UTC();
		QString stopTime = iTime(etEnd-exposureTime).UTC();

		SpiceChar startSclkString[50];
		SpiceChar endSclkString[50];
		sce2s_c( (SpiceInt) -226, etStart-exposureTime, (SpiceInt) 50, startSclkString);
		sce2s_c( (SpiceInt) -226, etEnd-exposureTime, (SpiceInt) 50, endSclkString);

		inst.findKeyword("StartTime").setValue(startTime);
		inst.findKeyword("StopTime").setValue(stopTime);

		inst.findKeyword("SpacecraftClockStartCount").setValue(startSclkString);
		inst.findKeyword("SpacecraftClockStopCount").setValue(endSclkString);

		outcube->putGroup(inst);

		// Unload the naif kernels
		unload_c(lsk.toLatin1().data());
		unload_c(sclk.toLatin1().data());
		}

		// Write the Archive and Instrument groups to the output cube label
		outcube->putGroup(outLabel.findGroup("Archive", Pvl::Traverse));
		outcube->putGroup(outLabel.findGroup("Instrument", Pvl::Traverse));
		@@ -406,6 +478,20 @@ void IsisMain ()
		p.EndProcess ();
		}

		// Converts SCET format to SSSSSSSSSS:FFFFF format
		QString convertSCET(int word1, int word2, int word3)
		{
		double seconds = (double ((double) word1 * pow(2.0,16.0))) + (double) word2;
		double fractionalSeconds = (double) word3;
		QString scetString = QString::number(seconds, 'f');
		QStringList scetStringList = scetString.split(".");
		// The integer portion
		scetString = scetStringList[0];
		scetString.append(":");
		scetString.append(QString::number(fractionalSeconds));
		return scetString;
		}


		/**
		* Convert 2 bytes into a 2-byte word
		@@ -427,6 +513,7 @@ int word(const char byte1, const char byte2)
		return swapper.w;
		}

		// swap bytes
		int swapb(const unsigned short int word) {
		union {
		unsigned short int w;

isis/src/rosetta/objs/RosettaVirtisCamera/RosettaVirtisCamera.cpp

+69 −11

Original line number	Diff line number	Diff line
		@@ -93,43 +93,51 @@ namespace Isis {

		// Get other info from labels
		PvlKeyword &frameParam = inst["FrameParameter"];
		m_exposureTime = toDouble(frameParam[0]);

		// convert milliseconds to seconds

		m_exposureTime = toDouble(frameParam[0]) * 0.001;
		m_summing = toDouble(frameParam[1]);
		m_scanRate = toDouble(frameParam[2]);

		// Setup detector map
		// Get the line scan rates/times

		if (!m_is1BCalibrated) {
		readHouseKeeping(lab.fileName(), m_scanRate);
		}
		else {
		readSCET(lab.fileName());
		}

		new VariableLineScanCameraDetectorMap(this, m_lineRates);
		DetectorMap()->SetDetectorSampleSumming(m_summing);

		// Setup focal plane map
		new CameraFocalPlaneMap(this, naifIkCode());

		// Retrieve boresight location from instrument kernel (IK) (addendum?)
		QString ikernKey = "INS" + toString(naifIkCode()) + "_BORESIGHT_SAMPLE";
		double sampleBoreSight = getDouble(ikernKey);

		ikernKey = "INS" + toString(naifIkCode()) + "_BORESIGHT_LINE";
		double lineBoreSight = getDouble(ikernKey);

		FocalPlaneMap()->SetDetectorOrigin(sampleBoreSight, lineBoreSight);

		// Setup distortion map
		new CameraDistortionMap(this);

		// Setup the ground and sky map
		new LineScanCameraGroundMap(this);
		new LineScanCameraSkyMap(this);

		// Set initial start time always (label start time is inaccurate)

		if (!m_is1BCalibrated){
		setTime(iTime(startTime()));
		}

		// Now check to determine if we have a cache already. If we have a cache
		// table, we are beyond spiceinit and have already computed the proper
		// point table from the housekeeping data or articulation kernel.
		if (!instrumentRotation()->IsCached() && !hasArtCK) {

		if (!instrumentRotation()->IsCached() && !hasArtCK && !m_is1BCalibrated) {
		// Create new table here prior to creating normal caches
		Table quats = getPointingTable(frameId, virFrame);

		@@ -274,7 +282,57 @@ namespace Isis {


		/**
		* @brief Read the VIR houskeeping table from cube
		* @brief For calibrated VIRTIS-M images, read the SCET values from the cube
		*
		*
		* @param filename The filename of the cube with the house keeping table.
		* @param linerate The linerate for the cube.
		*
		* @history 2011-07-22 Kris Becker
		*/
		void RosettaVirtisCamera::readSCET(const QString &filename) {
		// Open the ISIS table object
		std::vector<double> cacheTime;
		Table hktable("VIRTISHouseKeeping", filename);
		m_lineRates.clear();
		int lineno(1);
		double lineEndTime = 0;
		for (int i = 0; i < hktable.Records(); i++) {
		TableRecord &trec = hktable[i];
		QString scetString = trec["dataSCET"];
		lineEndTime = getClockTime(scetString, naifSpkCode()).Et();
		m_lineRates.push_back(LineRateChange(lineno,
		lineEndTime-exposureTime(),
		exposureTime()));
		cacheTime.push_back(lineEndTime-exposureTime());
		lineno++;
		}
		cacheTime.push_back(lineEndTime);

		// Adjust the last time
		LineRateChange lastR = m_lineRates.back();

		// Normally the line rate changes would store the line scan rate instead of exposure time.
		// Storing the exposure time instead allows for better time calculations within a line.
		// In order for the VariableLineScanCameraDetectorMap to work correctly with this change,
		// every line in the cube must have a LineRateChange object. This is because determining
		// the start time for one line based on another line requires the line scan rate. Having
		// a LineRateChange for every line means never needing to calculate the start time for a line
		// because the start time is stored in that line's LineRateChange. So, the detector map only
		// calculates times within a given line.
		// See VariableLineScanCameraDetectorMap::exposureDuration() for a description of the
		// difference between exposure time and line scan rate.

		m_lineRates.back() = LineRateChange(lastR.GetStartLine(),
		lastR.GetStartEt(),
		exposureTime());

		instrumentRotation()->SetCacheTime(cacheTime);
		}


		/**
		* @brief Read the VIRTIS houskeeping table from cube
		*
		* This method reads an ISIS Table object from the cube. This table named,
		* "VIRHouseKeeping", contains four fields: ScetTimeClock, ShutterStatus,

isis/src/rosetta/objs/RosettaVirtisCamera/RosettaVirtisCamera.h

+2 −0

Original line number	Diff line number	Diff line
		@@ -40,6 +40,8 @@ namespace Isis {

		private:
		void readHouseKeeping(const QString &filename, double lineRate);
		void readSCET(const QString &filename);

		QString scrub(const QString &text) const;
		double exposureTime() const;
		double scanLineTime() const;